cartesian_control.py 文件源码

def __init__(self):
        #Loads the robot model, which contains the robot's kinematics information
        self.robot = URDF.from_parameter_server()

        #Subscribes to information about what the current joint values are.
        rospy.Subscriber("/joint_states", JointState, self.joint_callback)

        #Subscribes to command for end-effector pose
        rospy.Subscriber("/cartesian_command", Transform, self.command_callback)

        #Subscribes to command for redundant dof
        rospy.Subscriber("/redundancy_command", Float32, self.redundancy_callback)

        # Publishes desired joint velocities
        self.pub_vel = rospy.Publisher("/joint_velocities", JointState, queue_size=1)

        #This is where we hold the most recent joint transforms
        self.joint_transforms = []
        self.q_current = []
        self.x_current = tf.transformations.identity_matrix()
        self.R_base = tf.transformations.identity_matrix()
        self.x_target = tf.transformations.identity_matrix()
        self.q0_desired = 0
        self.last_command_time = 0
        self.last_red_command_time = 0

        # Initialize timer that will trigger callbacks
        self.mutex = Lock()
        self.timer = rospy.Timer(rospy.Duration(0.1), self.timer_callback)